float64[] collision_free_C1
float64[] collision_free_C2
float64[] collision_free_C3
float64[] collision_free_C4
float64[] collision_free_a1x
float64[] collision_free_a1y
float64[] collision_free_a2x
float64[] collision_free_a2y
float64[] collision_free_a3x
float64[] collision_free_a3y
float64[] collision_free_a4x
float64[] collision_free_a4y
float64[] collision_free_xmin
float64[] collision_free_xmax
float64[] collision_free_ymin
float64[] collision_free_ymax
float64 computation_time
